EP1683706A2 - Système de direction pour un véhicule - Google Patents

Système de direction pour un véhicule Download PDF

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Publication number
EP1683706A2
EP1683706A2 EP05112928A EP05112928A EP1683706A2 EP 1683706 A2 EP1683706 A2 EP 1683706A2 EP 05112928 A EP05112928 A EP 05112928A EP 05112928 A EP05112928 A EP 05112928A EP 1683706 A2 EP1683706 A2 EP 1683706A2
Authority
EP
European Patent Office
Prior art keywords
steering
vehicle
steering system
electric motor
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05112928A
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German (de)
English (en)
Other versions
EP1683706B1 (fr
EP1683706A3 (fr
Inventor
Max Von Groll
Josef Wimberger
Tilo Meister
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP1683706A2 publication Critical patent/EP1683706A2/fr
Publication of EP1683706A3 publication Critical patent/EP1683706A3/fr
Application granted granted Critical
Publication of EP1683706B1 publication Critical patent/EP1683706B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Definitions

  • the invention relates to a steering system for a motor vehicle with an electronically controllable actuator for influencing the driver's steering handle perceivable steering torque, in particular a power steering system with an electric motor directly initiates a driver assisting in applying the steering forces servo torque, wherein the actuator and in particular the electric motor is suitably driven in consideration of the steering torque applied by the driver and the steering angle resulting therefrom as well as at least one correction quantity derived from the driving behavior of the vehicle.
  • a steering system for a motor vehicle with an electronically controllable actuator for influencing the driver's steering handle perceivable steering torque in particular a power steering system with an electric motor directly initiates a driver assisting in applying the steering forces servo torque, wherein the actuator and in particular the electric motor is suitably driven in consideration of the steering torque applied by the driver and the steering angle resulting therefrom as well as at least one correction quantity derived from the driving behavior of the vehicle.
  • DE 38 22 171 C2 for the known state of the art.
  • Hydraulic power steering systems that are distinguished by their excellent road feedback to the driver have proven particularly useful. Namely, it is desirable that the driver on his steering wheel (or generally on his steering handle) feel the reaction of the vehicle, that in some ways the forces acting on the steerable wheels are properly felt on the steering wheel, thereby giving the driver a sense of to convey the driving behavior of the vehicle.
  • Hydraulic power steering systems where the support force is introduced via a hydraulically operated steering cylinder in the otherwise purely mechanical steering system (for example, a conventional rack-and-pinion steering) provide satisfactory feedback, at least when it comes to those with so-called open center , The latter, however, have an unfavorable efficiency, i. in motor vehicles driven by internal combustion engines when the steering hydraulic pump is driven directly by the internal combustion engine, the steering system is responsible for a not inconsiderable proportion of the fuel consumption.
  • Electromotive servo steering systems are more favorable in terms of energy consumption, in particular those in which the electric motor directly introduces a servo torque assisting the driver in applying the steering forces into the steering system, ie, the electric motor, for example, the rack of the steering gear via a direct mechanical transmission drives directly.
  • electro-hydraulic power steering systems are to be distinguished, in which an electric motor drives a pump for conveying the hydraulic medium of a hydraulic power steering.
  • electromotive power assisted steering systems on the market with direct force application by the electric motor can not achieve the high level of hydraulic power steering systems in terms of the road feedback criterion. The reason for this could be the relatively high moment of inertia of these electric motors as well as the mechanical friction losses in the steering system.
  • the search is a simple measure by means of which a conventional electromotive power steering system, in which the electric motor directly initiating an assisting force is controlled in a conventional manner and in particular depending on the steering torque given by the driver, the respective steering angle and possibly the vehicle speed of the vehicle, a corresponding assisting moment can be so controlled that the road feedback of the system is improved.
  • the solution of this object (s) is for a steering system according to the preamble of claim 1, wherein at least one of the driving behavior of the vehicle derived correction variable is taken into account in the control of the actuator, in particular electric motor, characterized in that the correction variable via a high-pass filter or a differentiator is taken into account.
  • the high-pass filtering above a corner frequency in the order of 0.5 Hertz to 4 Hertz done and it can be processed in this way the correction signal usually formed control signal for the electric motor or generally for the Actuator be switched.
  • the correction variable derived from the driving behavior of the vehicle is preferably the lateral acceleration of the vehicle.
  • a power steering system with an electric motor is already known, in which the lateral acceleration, which acts on the vehicle, is detected and a correction device is provided, which determines a return torque as a function of the driving speed and of the detected lateral acceleration.
  • the vehicle lateral acceleration is taken into account in the form of a correction signal in the control of the electric motor of the power steering or generally an actuator for influencing the driver's steering handle felt steering torque, but not to determine a restoring torque in a preferred embodiment but basically, not directly, but suitable high-pass filtered or at least differentiated, based on the following considerations:
  • the lateral acceleration and in particular that at which the steerable vehicle wheels having front axle is a measure. for the present, transmitted between the wheels and the road side forces.
  • These side forces provide a high informative portion for the driver, as they provide information about the current coefficient of friction between the road surface and the tire, as well as about unevenness of the road surface. If changes in the lateral forces, which can result, for example, from friction value jumps of the roadway or from bumps in the road, are conveyed increasingly to the driver of the vehicle, this therefore receives improved roadway feedback.
  • this should be done substantially outside the usual control of the electric motor, which is usually in the frequency range between 0 hertz and up to 3 hertz.
  • the corresponding correction variable which is only preferably the vehicle lateral acceleration or to act on the one of the steerable wheels, high-pass-fitted to take into account in the control of the electric motor.
  • This high-pass filtering can be done with a so-called. Corner frequency of 0.5 Hertz; However, a substantially complete separation from the usual control of the servo-electric motor is achieved if the correction quantity is taken into account over a corner frequency of the order of 4 Hertz high-pass filtered. However, when using another actuator to influence the steering torque felt by the driver on his steering handle, other corner frequencies may provide favorable results.
  • a simple differentiation of the transverse acceleration or generally a so-called correction variable may be sufficient for the solution of the underlying task.
  • figurüch illustrated control loop of the electric motor of the power steering system is referred to as an actuator, which outputs a servo torque M A.
  • This acts on the steering line of the vehicle.
  • the driver acts on the Steering train of the vehicle, the driver by, by introducing a steering torque M H and in response receives a steering angle ⁇ H at its steering wheel.
  • the lateral acceleration a yV at the front axle of the vehicle is now determined (as will be explained later) and taken into account as a correction variable.
  • an amplification and travel speed-dependent amplification of the correction variable is first carried out before this correction variable is subjected to high-pass filtering with a cut-off frequency on the order of 3 hertz.
  • the thus processed signal can then be limited to a maximum value, which in turn can be dependent on the driving speed of the vehicle.
  • the thus processed signal is then applied to the conventional drive signal for the actuator (in a summation point S). (Instead of the electric motor, the actuator may also be another suitable so-called actuator).

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
EP20050112928 2005-01-20 2005-12-23 Système de direction pour un véhicule Expired - Lifetime EP1683706B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200510002614 DE102005002614A1 (de) 2005-01-20 2005-01-20 Lenksystem für ein Kraftfahrzeug

Publications (3)

Publication Number Publication Date
EP1683706A2 true EP1683706A2 (fr) 2006-07-26
EP1683706A3 EP1683706A3 (fr) 2008-03-05
EP1683706B1 EP1683706B1 (fr) 2009-08-05

Family

ID=36121426

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20050112928 Expired - Lifetime EP1683706B1 (fr) 2005-01-20 2005-12-23 Système de direction pour un véhicule

Country Status (2)

Country Link
EP (1) EP1683706B1 (fr)
DE (2) DE102005002614A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1849682A1 (fr) * 2006-04-28 2007-10-31 ZF-Lenksysteme GmbH Procédé destiné au réglage de la direction
EP1944219A1 (fr) * 2007-01-11 2008-07-16 ZF-Lenksysteme GmbH Procédé de commande d'une direction assistée
EP1955924A1 (fr) * 2007-02-08 2008-08-13 ZF Lenksysteme GmbH Procédé destiné au fonctionnement d'un système de direction dans un véhicule automobile
EP1889775A3 (fr) * 2006-08-17 2008-11-19 ZF-Lenksysteme GmbH Procédé pour la correction d'angle de direction dans une direction assistée pour un véhicule automobile
DE102007055802A1 (de) 2007-12-13 2009-06-25 Zf Lenksysteme Gmbh Lenksystem in einem Kraftfahrzeug
DE102008046866A1 (de) * 2008-09-12 2010-03-18 Hella Kgaa Hueck & Co. Verfahren zur Einstellung eines Zusatzlenkmoments in einer Lenkeinrichtung eines Kraftfahrzeugs zur Erzeugung einer haptischen Lenkradwarnung beim Spurverlassen
DE102008042074A1 (de) 2008-09-15 2010-03-25 Zf Lenksysteme Gmbh Lenkgetriebe-Servomotor-Baugruppe in einem Lenksystem eines Fahrzeugs
CN104271431A (zh) * 2012-05-16 2015-01-07 日产自动车株式会社 车辆的转向控制装置和转向控制方法
WO2020127265A1 (fr) * 2018-12-19 2020-06-25 Thyssenkrupp Presta Ag Procédé de détermination d'une sensation de direction d'un système de direction à commande électrique

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007011275B4 (de) * 2007-03-08 2012-03-15 Volkswagen Ag Verfahren und Vorrichtung zur Umsetzung einer Lenkmomentenempfehlung für ein Spurhalteassistenzsystem mit einer elektromechanischen Lenkung
DE102007026189A1 (de) * 2007-06-05 2008-12-11 Volkswagen Ag Elektromechanische Lenkung für ein Kraftfahrzeug und Verfahren zum Betrieb einer solchen
DE102008021856A1 (de) 2008-05-02 2009-11-05 Volkswagen Ag Servo-Lenksystem mit Aufprägung von Fahrbahnanregungen auf das Handmoment
KR20130036926A (ko) 2011-10-05 2013-04-15 주식회사 만도 조향휠 떨림 저감 방법 및 그 장치
DE102012012307A1 (de) * 2012-06-20 2013-12-24 Volkswagen Aktiengesellschaft Verfahren zur Unterdrückung von Störgrößen in einem Lenksystem eines Kraftfahrzeugs und Lenksystem in einem Kraftfahrzeug
DE102017212503A1 (de) * 2017-07-20 2019-01-24 Audi Ag Lenksystem

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2568817B2 (ja) * 1984-11-29 1997-01-08 富士重工業株式会社 電動式パワ−ステアリング装置のモ−タ制御装置
JP2618240B2 (ja) * 1987-07-02 1997-06-11 富士重工業株式会社 電動式パワーステアリング装置のモータ制御装置
JPH08136569A (ja) * 1994-11-09 1996-05-31 Toyota Motor Corp 検出装置
JP4082860B2 (ja) * 2000-11-29 2008-04-30 株式会社ジェイテクト 電動パワーステアリング装置
JP2003137121A (ja) * 2001-11-05 2003-05-14 Hitachi Unisia Automotive Ltd 電動パワーステアリング装置
JP3860518B2 (ja) * 2002-08-12 2006-12-20 株式会社豊田中央研究所 路面摩擦状態推定装置

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1849682A1 (fr) * 2006-04-28 2007-10-31 ZF-Lenksysteme GmbH Procédé destiné au réglage de la direction
EP1889775A3 (fr) * 2006-08-17 2008-11-19 ZF-Lenksysteme GmbH Procédé pour la correction d'angle de direction dans une direction assistée pour un véhicule automobile
EP1944219A1 (fr) * 2007-01-11 2008-07-16 ZF-Lenksysteme GmbH Procédé de commande d'une direction assistée
EP1955924A1 (fr) * 2007-02-08 2008-08-13 ZF Lenksysteme GmbH Procédé destiné au fonctionnement d'un système de direction dans un véhicule automobile
DE102007006237A1 (de) 2007-02-08 2008-08-14 Zf Lenksysteme Gmbh Verfahren zum Betrieb eines Lenksystems in einem Kraftfahrzeug
DE102007055802A1 (de) 2007-12-13 2009-06-25 Zf Lenksysteme Gmbh Lenksystem in einem Kraftfahrzeug
DE102008046866A1 (de) * 2008-09-12 2010-03-18 Hella Kgaa Hueck & Co. Verfahren zur Einstellung eines Zusatzlenkmoments in einer Lenkeinrichtung eines Kraftfahrzeugs zur Erzeugung einer haptischen Lenkradwarnung beim Spurverlassen
DE102008042074A1 (de) 2008-09-15 2010-03-25 Zf Lenksysteme Gmbh Lenkgetriebe-Servomotor-Baugruppe in einem Lenksystem eines Fahrzeugs
CN104271431A (zh) * 2012-05-16 2015-01-07 日产自动车株式会社 车辆的转向控制装置和转向控制方法
WO2020127265A1 (fr) * 2018-12-19 2020-06-25 Thyssenkrupp Presta Ag Procédé de détermination d'une sensation de direction d'un système de direction à commande électrique
CN113242827A (zh) * 2018-12-19 2021-08-10 蒂森克虏伯普利斯坦股份公司 用于确定线控转向系统的转向感的方法
CN113242827B (zh) * 2018-12-19 2023-10-27 蒂森克虏伯普利斯坦股份公司 用于确定线控转向系统的转向感的方法
US11926380B2 (en) 2018-12-19 2024-03-12 Thyssenkrupp Presta Ag Method for determining a steering sensation of a steer-by-wire steering system

Also Published As

Publication number Publication date
EP1683706B1 (fr) 2009-08-05
EP1683706A3 (fr) 2008-03-05
DE502005007837D1 (de) 2009-09-17
DE102005002614A1 (de) 2006-08-03

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